A method of simulating a cloth includes: determining a first shape for the cloth at a first time; determining a first goal shape for the cloth at the first time; determining a first goal-directed force for the cloth at the first time from the first shape and the first goal shape, wherein the first goal directed force includes a component that measures a difference between the first shape and the first goal shape; and determining a second shape for the cloth at a second time from the first shape and the first goal-directed force by dynamically advancing the cloth from the first time to the second time.